Yann/feature/imu/add spike for calibration

drivers/CoreIMU/source/CoreIMU.cpp

@@ -144,18 +144,21 @@ void CoreIMU::registerOnWakeUpCallback(std::function<void()> const &callback)
 
 void CoreIMU::enableOnWakeUpInterrupt()
 {
+	// ODR = 52Hz for reference
+
 	// ? Set filter and disable user offset
 	lsm6dsox_xl_hp_path_internal_set(&_register_io_function, LSM6DSOX_USE_SLOPE);
 	lsm6dsox_xl_usr_offset_on_wkup_set(&_register_io_function, 0);
 
 	// ? Set Wakeup config
-	lsm6dsox_wkup_threshold_set(&_register_io_function, 2);
-	lsm6dsox_wkup_ths_weight_set(&_register_io_function, LSM6DSOX_LSb_FS_DIV_64);
-	lsm6dsox_wkup_dur_set(&_register_io_function, 0x02);
+	lsm6dsox_wkup_threshold_set(&_register_io_function, 3);	  // LSB multiplier / Max: 31
+	lsm6dsox_wkup_ths_weight_set(&_register_io_function,
+								 LSM6DSOX_LSb_FS_DIV_64);	// 2 Weights, 1 LSB = FS_XL/2^x x:{6,8}
+	lsm6dsox_wkup_dur_set(&_register_io_function, 1);		// 1 LSB = 1*ODR_time / Max: 3
 
 	// ? Set Activity config
-	lsm6dsox_act_sleep_dur_set(&_register_io_function, 0x02);
-	lsm6dsox_act_mode_set(&_register_io_function, LSM6DSOX_XL_AND_GY_NOT_AFFECTED);
+	lsm6dsox_act_sleep_dur_set(&_register_io_function, 0);					  // 1 LSB = 512*ODR / Max: 15
+	lsm6dsox_act_mode_set(&_register_io_function, LSM6DSOX_XL_12Hz5_GY_PD);	  // 4 Modes
 
 	lsm6dsox_pin_int1_route_t lsm6dsox_int1 {
 		.sleep_change = PROPERTY_ENABLE,

spikes/CMakeLists.txt

@@ -30,6 +30,7 @@ add_subdirectory(${SPIKES_DIR}/lk_rfid)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_battery)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_imu)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_imu_fusion_calibration)
+add_subdirectory(${SPIKES_DIR}/lk_sensors_imu_wakeup_calibration)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_light)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_microphone)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_temperature_humidity)
@@ -73,6 +74,7 @@ add_dependencies(spikes_leka
 	spike_lk_sensors_battery
 	spike_lk_sensors_imu
 	spike_lk_sensors_imu_fusion_calibration
+	spike_lk_sensors_imu_wakeup_calibration
 	spike_lk_sensors_light
 	spike_lk_sensors_microphone
 	spike_lk_sensors_temperature_humidity

spikes/lk_sensors_imu_wakeup_calibration/CMakeLists.txt

@@ -0,0 +1,23 @@
+# Leka - LekaOS
+# Copyright 2024 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+add_mbed_executable(spike_lk_sensors_imu_wakeup_calibration)
+
+target_include_directories(spike_lk_sensors_imu_wakeup_calibration
+	PRIVATE
+	.
+)
+
+target_sources(spike_lk_sensors_imu_wakeup_calibration
+	PRIVATE
+	main.cpp
+)
+
+target_link_libraries(spike_lk_sensors_imu_wakeup_calibration
+	CoreIMU
+	CoreI2C
+	CoreLED
+)
+
+target_link_custom_leka_targets(spike_lk_sensors_imu_wakeup_calibration)

spikes/lk_sensors_imu_wakeup_calibration/main.cpp

@@ -0,0 +1,101 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include <cinttypes>
+
+#include "rtos/ThisThread.h"
+
+#include "CoreI2C.h"
+#include "CoreIMU.hpp"
+#include "CoreLED.h"
+#include "CoreSPI.h"
+#include "HelloWorld.h"
+#include "LogKit.h"
+
+using namespace std::chrono;
+using namespace leka;
+
+namespace {
+
+namespace imu {
+
+	namespace internal {
+
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto i2c = CoreI2C {PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL};
+
+	}	// namespace internal
+
+	CoreIMU coreimu(internal::i2c, internal::irq);
+
+}	// namespace imu
+
+namespace leds {
+
+	namespace internal {
+
+		namespace ears {
+
+			auto spi			= CoreSPI {LED_EARS_SPI_MOSI, NC, LED_EARS_SPI_SCK};
+			constexpr auto size = 2;
+
+		}	// namespace ears
+
+		namespace belt {
+
+			auto spi			= CoreSPI {LED_BELT_SPI_MOSI, NC, LED_BELT_SPI_SCK};
+			constexpr auto size = 20;
+
+		}	// namespace belt
+
+	}	// namespace internal
+
+	auto ears = CoreLED<internal::ears::size> {internal::ears::spi};
+	auto belt = CoreLED<internal::belt::size> {internal::belt::spi};
+
+}	// namespace leds
+
+}	// namespace
+
+void setColor(RGB color)
+{
+	leds::ears.setColor(color);
+	leds::belt.setColor(color);
+
+	leds::ears.show();
+	leds::belt.show();
+}
+
+void turnOff()
+{
+	setColor(RGB::black);
+}
+
+void wakeUpReaction()
+{
+	setColor(RGB::pure_blue);
+	rtos::ThisThread::sleep_for(2s);
+	turnOff();
+}
+
+auto main() -> int
+{
+	logger::init();
+
+	log_info("Hello, World!\n\n");
+
+	HelloWorld hello;
+	hello.start();
+
+	imu::coreimu.init();
+	imu::coreimu.setPowerMode(CoreIMU::PowerMode::Normal);
+
+	auto callback = [] { wakeUpReaction(); };
+
+	imu::coreimu.enableOnWakeUpInterrupt(callback);
+
+	while (true) {
+		rtos::ThisThread::sleep_for(10min);
+	}
+}